diff --git a/CMakeModules/SimoxConfig.cmake.in b/CMakeModules/SimoxConfig.cmake.in
index 1e07cb1b855c1944fc687a23c669aa28c55d1746..cf4f911b496442082ef8e7c5b86cb14d79155b18 100644
--- a/CMakeModules/SimoxConfig.cmake.in
+++ b/CMakeModules/SimoxConfig.cmake.in
@@ -10,7 +10,7 @@
 #  SIMOX_CMAKE_INCLUDE - list of includes that may be neccessary for external libraries (e.g. QT_USE_FILE)
 #  SIMOX_DATA_PATH     - the standard data path
 #  SIMOX_CMAKE_DIR     - Path to Simox cmake files.
-#  SIMOX_DIR           - Path to Simox
+#  SIMOX_BASE_DIR      - Path to Simox
 
 SET(SIMOX_INCLUDE_DIRS "@SIMOX_INCLUDE_DIRS@")
 SET(SIMOX_LIBRARY_DIRS "@SIMOX_LIB_DIRS@")
diff --git a/VirtualRobot/CMakeLists.txt b/VirtualRobot/CMakeLists.txt
index 5979d6a7623770d1a9803cb8d10754df559af1ed..94512df91a29d20800f6861f51fbc194a36e2dff 100644
--- a/VirtualRobot/CMakeLists.txt
+++ b/VirtualRobot/CMakeLists.txt
@@ -296,6 +296,10 @@ configure_file("${PROJECT_SOURCE_DIR}/CMakeModules/VirtualRobotExternalLibrarySe
     "${VIRTUAL_ROBOT_CONFIG_INBUILD_DIR}/VirtualRobotExternalLibrarySetup.cmake" COPYONLY)
 configure_file("${PROJECT_SOURCE_DIR}/CMakeModules/VirtualRobotMacros.cmake"
     "${VIRTUAL_ROBOT_CONFIG_INBUILD_DIR}/VirtualRobotMacros.cmake" COPYONLY)
+configure_file("${PROJECT_SOURCE_DIR}/CMakeModules/FindVirtualRobot.cmake"
+    "${VIRTUAL_ROBOT_CONFIG_INBUILD_DIR}/FindVirtualRobot.cmake" COPYONLY)
+
+    
     
 # Create an VirtualRobotConfig.cmake file for the use from the install tree
 # and install it
@@ -323,6 +327,7 @@ install(FILES
 install(FILES
     "${PROJECT_SOURCE_DIR}/CMakeModules/VirtualRobotExternalLibrarySetup.cmake"
     "${PROJECT_SOURCE_DIR}/CMakeModules/VirtualRobotMacros.cmake"
+    "${PROJECT_SOURCE_DIR}/CMakeModules/FindVirtualRobot.cmake"
     DESTINATION "${VIRTUAL_ROBOT_CMAKE_DIR}")
 
 
diff --git a/VirtualRobot/Visualization/OSGVisualization/OSGVisualizationFactory.cpp b/VirtualRobot/Visualization/OSGVisualization/OSGVisualizationFactory.cpp
index 3f08477eabeb8ce2bf9ebc183bfa348c9d30d0b5..786b09ac5472c9b0ec3bd9e4811494cf64fab536 100644
--- a/VirtualRobot/Visualization/OSGVisualization/OSGVisualizationFactory.cpp
+++ b/VirtualRobot/Visualization/OSGVisualization/OSGVisualizationFactory.cpp
@@ -10,11 +10,11 @@
 #include "../../VirtualRobotException.h"
 #include "OSGVisualization.h"
 #include "../../Robot.h"
-#include "../../Grasp.h"
-#include "../../GraspSet.h"
+#include "../../Grasping/Grasp.h"
+#include "../../Grasping/GraspSet.h"
 #include "../../SceneObject.h"
 #include "../TriMeshModel.h"
-#include "../../ReachabilitySpace.h"
+#include "../../Workspace/Reachability.h"
 #include <iostream>
 #include <algorithm>
 #include <boost/pointer_cast.hpp>
@@ -305,7 +305,7 @@ VirtualRobot::VisualizationNodePtr OSGVisualizationFactory::createPlane( const E
 	return VisualizationNodePtr();
 }
 
-VirtualRobot::VisualizationNodePtr OSGVisualizationFactory::createTrajectory(TrajectoryPtr t, Color colorNode = Color::Blue(), Color colorLine = Color::Gray(), float nodeSize = 15.0f, float lineSize = 4.0f)
+VirtualRobot::VisualizationNodePtr OSGVisualizationFactory::createTrajectory(TrajectoryPtr t, Color colorNode, Color colorLine, float nodeSize, float lineSize)
 {
 	VR_INFO << "init nyi..." << endl;
 	return VisualizationNodePtr();
diff --git a/VirtualRobot/examples/RobotViewerOSG/RobotViewer.cpp b/VirtualRobot/examples/RobotViewerOSG/RobotViewer.cpp
index 7d37b97ff8e57be14f3363ee7a462afc84c15ab4..6f9e4702ae6f7b74e70ef21107777529ffdcbc90 100644
--- a/VirtualRobot/examples/RobotViewerOSG/RobotViewer.cpp
+++ b/VirtualRobot/examples/RobotViewerOSG/RobotViewer.cpp
@@ -26,7 +26,7 @@ int main(int argc, char *argv[])
 	VirtualRobot::RuntimeEnvironment::print();
 	
 	cout << " --- START --- " << endl;
-	std::string filename("robot/examples/RobotViewerOSG/Joint3DH.xml");
+	std::string filename("robots/examples/RobotViewerOSG/Joint3DH.xml");
     VirtualRobot::RuntimeEnvironment::getDataFileAbsolute(filename);
         
 	if (VirtualRobot::RuntimeEnvironment::hasValue("robot"))
diff --git a/VirtualRobot/examples/RobotViewerOSG/showRobotWindow.cpp b/VirtualRobot/examples/RobotViewerOSG/showRobotWindow.cpp
index 1177acb4f39db2b211166c8e801d154f61db4986..487938cd1002a1c3ae1b0d211de3bd8bea617a70 100644
--- a/VirtualRobot/examples/RobotViewerOSG/showRobotWindow.cpp
+++ b/VirtualRobot/examples/RobotViewerOSG/showRobotWindow.cpp
@@ -1,7 +1,7 @@
 
 #include "showRobotWindow.h"
 #include "VirtualRobot/EndEffector/EndEffector.h"
-#include "VirtualRobot/ReachabilitySpace.h"
+#include "VirtualRobot/Workspace/Reachability.h"
 
  #include <QFileDialog>
 #include <Eigen/Geometry>